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d770cb99a3
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feat: Multi-sensor fusion for obstacle avoidance (Issue #490)
- saltybot_sensor_fusion: ROS2 node for LIDAR + depth sensor fusion
- Fuses RPLIDAR A1M8 (360° 2D) + RealSense D435i (front 87° 3D)
- Message filters for time-synchronized sensor inputs
- Smart blind spot handling: rear/sides LIDAR-only, front uses both
- Publishes /scan_fused (unified LaserScan) + PointCloud2 for voxel layer
- Configurable front sector angle (±45°), range multiplier, max range limit
- Parameters: depth_range_multiplier=0.9 (safety margin), max_range=5m
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
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2026-03-05 17:05:25 -05:00 |
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